[Pixel] = Project3DIntoCam(P,Point3D, strType)
Description: Projects a 3D point into a camera pixel using P (Projection matrix) or Kint (intrinsics calibration matrix), if we use Kint assume that the camera is positioned in our world origin.
The Point3D parameter can be a matrix of nPoints (one 3D point per row).
The P parameter can be a matrix formed by nCams projection matrices (4x3xnCams).
Out parameters:
- Pixel = Camera pixel. Origin top-left [mat nPointsxXxYxnCams]
In parameters:
- P = Projection matrix of the camera (mat 4x3xnCams) or intrinsics (mat 3x3xnCams) matrix of the camera.
- Point3D = point to project into camera [X Y Z]. It can be a matrix of nPoints (row per point).
- Optional strType = ‘Proj’ Indicate that P is a 4×3 projection matrix. ‘Int’ Indicate that P is a 3×3 intrinsics calibration matrix. (Default = ‘Proj’)
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